CN104334871A

CN104334871A - Control system for hybrid construction machine

Info

Publication number: CN104334871A
Application number: CN201380029145.8A
Authority: CN
Inventors: 川崎治彦; 江川祐弘
Original assignee: Kayaba Industry Co Ltd
Current assignee: KYB Corp
Priority date: 2012-08-09
Filing date: 2013-08-06
Publication date: 2015-02-04
Anticipated expiration: 2033-08-06
Also published as: JP5984571B2; US9359743B2; KR20150013186A; US20150184364A1; KR101646432B1; JP2014034827A; WO2014024874A1; CN104334871B; DE112013003960T5

Abstract

This control system for a hybrid construction machine is equipped with: a swing motor that is provided on a turning circuit; a pressure detector for detecting a turning pressure of the swing motor; a variable-capacity type fluid pressure motor for regeneration that rotates with a pressurized fluid introduced from the swing motor; a motor-generator that rotates integrally with the fluid pressure motor; and a controller that predicts a turning-regenerated flow quantity from the swing motor on the basis of a turning pressure detected by the pressure detector and controls the tilt angle of the fluid pressure motor on the basis of the predicted turning-regenerated flow quantity.

Description

The control system of hybrid construction machine

Technical field

The present invention relates to a kind of control system of hybrid construction machine.

Background technique

Be known to a kind ofly comprise the hybrid construction machines such as the power digger of motor and motor generator set.Hybrid construction machine utilizes the residue of motor to export and makes generator rotation and generate electricity, or utilizes the energy of discharging from transmission device to make motor generator set rotate and generate electricity.The electric power that generating like this obtains can be used in motor generator set is rotated, and utilizes the rotation of motor generator set to drive oil hydraulic motor etc.

In JP2009-235717A, disclose a kind of by the control gear of the rotation pressure of rotary motor as the hybrid construction machine of energy of bringing back to life.This control gear utilizes the rotation pressure of rotary motor that fluid pressure motor is rotated, thus makes motor generator set rotate and generate electricity, or makes the service pump work that links with fluid pressure motor.

Above-mentioned control gear detects the rotation pressure of rotary motor at ordinary times, and the angle of yaw of convection cell pressure motor carries out feedback control rotation pressure to be maintained the threshold value preset.Thus, if the angle of yaw control mechanism of fluid pressure motor produces operating lag, then likely producing pressure oscillation by the loop be communicated with between rotary motor with fluid pressure motor, and then vibration is produced.

Summary of the invention

The object of the present invention is to provide a kind of control system that can prevent the hybrid construction machine vibrated.

According to certain mode of execution of the present invention, a kind of control system of hybrid construction machine, comprising: rotary motor, and it is located at rotary loop; Pressure detector, it is for detecting the rotation pressure of rotary motor; Capacity-variable type fluid pressure motor, it is for bringing back to life, and this capacity-variable type fluid pressure motor rotates under the effect of the pressure fluid guided from rotary motor; Motor generator set, itself and fluid pressure motor rotate integratedly; And controller, it to be brought back to life flow based on the revolution that the rotation pressure utilizing pressure detector to detect is predicted from rotary motor, and controls the angle of yaw of fluid pressure motor based on the revolution predicted flow of bringing back to life.

Accompanying drawing explanation

Fig. 1 is the circuit diagram of the control system of the hybrid construction machine representing embodiments of the present invention.

Fig. 2 is the flow chart of the content representing the process carried out in the controller.

Embodiment

Referring to accompanying drawing, embodiments of the present invention are described.

Fig. 1 is the circuit diagram of the control system of the hybrid construction machine represented in present embodiment.

In the present embodiment, as hybrid construction machine, exemplified with power digger, but it also can be other building machinery.Power digger comprise the 1st main pump MP1 of capacity-variable type, capacity-variable type the 2nd main pump MP2, be connected to the 1st circuit system of the 1st main pump MP1 and be connected to the 2nd circuit system of the 2nd main pump MP2.

On the 1st circuit system, from upstream side be connected with in turn the rotary motor for controlling rotary motor RM operating valve 1, for control the dipper single speed of dipper cylinder (not shown) operating valve 2, for control the swing arm double speed of swing arm cylinder BC operating valve 3, for control pre-spare part (not shown) operating valve 4 for subsequent use in advance, for controlling the operating valve 5 of the left running motor of left running motor (not shown).

Each operating valve 1 ~ 5 is connected to the 1st main pump MP1 via neutral stream 6 and IEEE Std parallel highway 7.The downstream side of the operating valve 5 of the left running motor on neutral stream 6 is provided with pilot pressure generating mechanism 8.The flow of formerly leading flowing in pressing creation mechanism 8 is larger, and pilot pressure generating mechanism 8 more can generate higher pilot pressure in side at its upstream.

Because the flow of formerly leading flowing in pressing creation mechanism 8 changes according to the amount of switched of operating valve 1 ~ 5, therefore, pilot pressure generating mechanism 8 generates the pilot pressure corresponding with the amount of switched of operating valve 1 ~ 5.

When operating valve 1 ~ 5 is all positioned near neutral position or neutral position, all or part of fluid of discharging from the 1st main pump MP1 is guided to case T by neutral stream 6.In this case, comparatively large owing to formerly leading the flow passed through in pressing creation mechanism 8, therefore, pilot pressure generating mechanism 8 generates higher pilot pressure.

When operating valve 1 ~ 5 is switched, a part for pump delivery is directed to transmission device, and remainder is directed to case T from neutral stream 6.In this case, pilot pressure generating mechanism 8 generates the pilot pressure corresponding with the flow flowing into neutral stream 6.

When operating valve 1 ~ 5 is switched to the state of total travel, neutral stream 6 is closed and fluid cannot be circulated.In this case, because the flow of formerly leading flowing in pressing creation mechanism 8 disappears, therefore, pilot pressure remains zero.

Formerly lead pressing creation mechanism 8 and be connected with pilot flow path 9.Pilot flow path 9 is connected to the regulator 10 of the angle of yaw for controlling the 1st main pump MP1.Regulator 10 is pressed into the guide of pilot flow path 9 angle of yaw controlling the 1st main pump MP1 inversely, thus controls the discharge capacity of the 1st main pump MP1.Thus, if operating valve 1 ~ 5 is switched to the state of total travel, then due to the flowing disappearance in neutral stream 6 and the pilot pressure vanishing that generates of pilot pressure generating mechanism 8, therefore, the angle of yaw of the 1st main pump MP1 becomes maximum and discharge capacity becomes maximum.

Pilot flow path 9 is connected with the 1st pressure detector 11.The pressure signal detected is input to controller C by the 1st pressure detector 11.

On the other hand, in the 2nd circuit system, from upstream side be connected with in turn the right running motor for controlling right running motor (not shown) operating valve 12, for control the scraper bowl of scraper bowl cylinder (not shown) operating valve 13, for control the swing arm single speed of swing arm cylinder BC operating valve 14, for controlling the operating valve 15 of the dipper double speed of dipper cylinder (not shown).The operating valve 14 of swing arm single speed is provided with the sensor 14a for detecting direction of operating and amount of switched.

Each operating valve 12 ~ 15 is connected to the 2nd main pump MP2 via neutral stream 16.And the operating valve 13 of scraper bowl and the operating valve 14 of swing arm single speed are connected to the 2nd main pump MP2 via IEEE Std parallel highway 17.The downstream side of the operating valve 15 of the dipper double speed on neutral stream 16 is provided with pilot pressure generating mechanism 18.The flow of formerly leading flowing in pressing creation mechanism 18 is larger, and pilot pressure generating mechanism 18 more can generate higher pilot pressure in side at its upstream.

Formerly lead pressing creation mechanism 18 and be connected with pilot flow path 19.Pilot flow path 19 is connected to the regulator 20 of the angle of yaw for controlling the 2nd main pump MP2.Regulator 20 controls the angle of yaw of the 2nd main pump MP2 with the pilot pressure of pilot flow path 19 inversely proportionally, thus controls the discharge capacity of the 2nd main pump MP2.Thus, if operating valve 12 ~ 15 is switched to the state of total travel, then due to the flowing disappearance in neutral stream 16 and the pilot pressure vanishing that generates of pilot pressure generating mechanism 18, therefore, the angle of yaw of the 2nd main pump MP2 becomes maximum and discharge capacity becomes maximum.

The 2nd pressure detector 21 is connected with in pilot flow path 19.The pressure signal detected is input to controller C by the 2nd pressure detector 21.

1st main pump MP1 and the 2nd main pump MP2 utilizes the driving force coaxial rotating of a motor E.Generator 22 is linked with at motor E.Generator 22 utilizes the residue of motor E export rotation thus can generate electricity.Generator 22 electric power obtained that generates electricity is utilized to charge to battery 24 via battery charger 23.When battery charger 23 is connected to home-use power supply 25, also can charge to battery 24.That is, battery charger 23 can also be connected to the power supply independent of power digger.Battery 24 is connected to controller C.Controller C has the function of the charge volume monitoring battery 24.

Be connected to the 1st circuit system rotary motor operating valve 1 transmission device port on be connected with the path 26,27 be communicated with rotary motor RM.Relief valve 28,29 is connected at the path 26,27 as rotary loop.When the operating valve 1 of rotary motor is held in the neutral position shown in Fig. 1, transmission device port occlusion and rotary motor RM is maintained halted state.

If the operating valve of rotary motor 1 is switched to the right positions of Fig. 1, then path 26 is connected to the 1st main pump MP1, and path 27 is communicated with case T.Thus, the displacement fluids of the 1st main pump MP1 is supplied to rotary motor RM via path 26 and rotary motor RM is rotated.And the Returning fluid from rotary motor RM is back to case T via path 27.

If the operating valve of rotary motor 1 is switched to the leftward position of Fig. 1, then the displacement fluids of the 1st main pump MP1 is supplied to rotary motor RM via path 27 and rotary motor RM is reversed.And the Returning fluid from rotary motor RM is back to case T via path 26.

In rotary motor RM rotary course, when path 26,27 reaches more than setting pressure, relief valve 28,29 is opened and makes on high-tension side fluid be back to case.In addition, in rotary motor RM rotary course, when the operating valve 1 of rotary motor turns back to neutral position, the transmission device port occlusion of operating valve 1.Even if the transmission device port occlusion of operating valve 1, rotary motor RM also can utilize the inertia energy of self temporarily to continue to rotate.Rotary motor RM utilizes inertia energy to rotate thus rotary motor RM plays pumping action.Now, if utilize path 26,27, rotary motor RM, relief valve 28,29 form closed-loop path, then inertia energy utilizes relief valve 28,29 to be converted to thermal energy.

In the present embodiment, when rotation pressure when the inertia energy when utilizing the braking making rotary motor RM stop, revolution action makes the pressure in path 26,27 exceed the setting pressure opening relief valve 28,29, replace this energy to consume as thermal energy, the fluid of rotary loop is supplied to fluid pressure motor AM via interflow described later path 43.To bring back to life control thereby, it is possible to carry out revolution.When control is brought back to life in revolution, the electromagnetic opening and closing valve 46 being located at interflow path 43 is switched to open position by controller C.

In addition, in the present embodiment, at interflow, path 43 is provided with electromagnetic opening and closing valve 46, but also can replace electromagnetic opening and closing valve 46 and carry out the open and close valve that switches under being arranged on the effect of pilot pressure.In this case, as long as newly arrange the guide's solenoid electric valve for controlling pilot pressure.Guide's solenoid electric valve utilizes the signal of self-controller C to carry out open and close controlling.

If the operating valve 14 of swing arm single speed is switched to the right positions of Fig. 1 from neutral position, be then fed into the piston side room 31 of swing arm cylinder BC via path 30 from the pressure fluid of the 2nd main pump MP2.Returning fluid from piston rod side room 32 turns back to case T via path 33.Thus, swing arm cylinder BC extends and swing arm rising.

On the contrary, if the operating valve 14 of swing arm single speed is switched to the leftward position of Fig. 1, be then fed into the piston rod side room 32 of swing arm cylinder BC via path 33 from the pressure fluid of the 2nd main pump MP2.Returning fluid from piston side room 31 turns back to case T via path 30.Thus, swing arm cylinder BC shrinks and swing arm decline.In addition, the operating valve 3 of swing arm double speed switches linkedly with the operating valve 14 of swing arm single speed.

Return flow when making swing arm decline and swing arm cylinder BC is shunk is determined according to the amount of switched of the operating valve 14 of swing arm single speed, and the rate of descent of swing arm is determined according to return flow.That is, the contraction speed of swing arm cylinder BC, the rate of descent of swing arm are controlled for operation amount when switching the controlling rod of operating valve 14 of swing arm single speed according to operator's operation.

The path 30 linked up between the piston side room 31 of swing arm cylinder BC and the operating valve 14 of swing arm single speed is being provided with proportional electromagnetic valve 34.The aperture of proportional electromagnetic valve 34 is controlled by the output signal of controller C, becomes standard-sized sheet in normal state.

Then, the service pump AP to the capacity-variable type that the output of the 1st main pump MP1 and the 2nd main pump MP2 is assisted is described.

Be linked with motor generator set MG at service pump AP, be linked with fluid pressure motor AM at motor generator set MG.Service pump AP rotates under the effect of the driving force of the fluid pressure motor AM of motor generator set MG or capacity-variable type, motor generator set MG and fluid pressure motor AM coaxial rotating.

Be connected with transducer I at motor generator set MG, transducer I is connected to controller C.Controller C controls the rotating speed etc. of motor generator set MG via transducer I.The angle of yaw of service pump AP and fluid pressure motor AM is controlled by angle of yaw controller 35,36.Angle of yaw controller 35,36 is connected to controller C, is controlled by the output signal of controller C.

Drain passageway 37 is connected with at service pump AP.Drain passageway 37 branches into the 1st interflow path 38 of the discharge side of collaborating in the 1st main pump MP1, collaborates the 2-in-1 circulation flow path 39 of the discharge side in the 2nd main pump MP2.1st interflow path 38 and 2-in-1 circulation flow path 39 are respectively equipped with the 1st ratio electromagnetic throttle valve 40 and the 2nd ratio electromagnetic throttle valve 41 that are controlled aperture by the output signal of controller C.

Connection path 42 is connected with at fluid pressure motor AM.Connection path 42 is connected to via interflow path 43 and one-way valve 44,45 path 26,27 being connected with rotary motor RM.At interflow, path 43 is provided with by the electromagnetic opening and closing valve 46 of controller C open and close controlling.The pressure detector 47 of pressure when being provided with the revolution for detecting rotary motor RM between electromagnetic opening and closing valve 46 and one-way valve 44,45 or pressure when braking, rotation pressure.The pressure signal of pressure detector 47 is imported into controller C.

In the path 43 of interflow, for from rotary loop to for the flowing of fluid pressure motor AM, be provided with safety valve 48 than electromagnetic opening and closing valve 46 downstream.When the component that such as electromagnetic opening and closing valve 46 etc. is located at the system of connection path 42 and interflow path 43 there occurs fault, safety valve 48 prevents by the pressure maintaining path 26,27 that rotary motor RM's is out of control.In addition, for from rotary loop to for the flowing of fluid pressure motor AM, be provided with pressure detector 47, electromagnetic opening and closing valve 46, safety valve 48 successively from upstream side.

Swing arm cylinder BC be provided with between proportional electromagnetic valve 34 and be connected the path 49 be communicated with path 42.Path 49 is provided with the electromagnetic opening and closing valve 50 controlled by controller C.In addition, in the present embodiment, be provided with both proportional electromagnetic valve 34 and electromagnetic opening and closing valve 50, but when being provided with the stream switching mechanism etc. the Returning fluid of swing arm cylinder BC not being imported fluid pressure motor AM, also electromagnetic opening and closing valve 50 can not be set.

If electromagnetic opening and closing valve 50 is switched to open position, then according to the aperture of proportional electromagnetic valve 34, the operating valve 14 that the Returning fluid carrying out robot arm cylinder BC is assigned as the fluid and robot arm single speed being directed to fluid pressure motor AM is directed to the fluid of case.

When open electromagnetic opening and closing valve 50, the rate of descent of the swing arm cylinder BC required by operation amount arithmetic operation person of the controlling rod that controller C operates according to the operating valve 14 of the swing arm single speed to swing arm cylinder BC.Controller C is directed to the aggregate flow of the fluid of case can maintain the aperture of the mode determination proportional electromagnetic valve 34 of the rate of descent of swing arm cylinder BC based on the operating valve 14 of the fluid and robot arm single speed that are directed to fluid pressure motor AM.

Controller C is connected with the amount of switched detection unit (not shown) of the operation amount of the controlling rod for detecting each operating valve 1 ~ 5,12 ~ 15.In addition, amount of switched detection unit can be the structure of the amount of switched of controlling rod for detecting each operating valve 1 ~ 5,12 ~ 15, also can be the amount of movement of the guiding valve of each operating valve 1 ~ 5,12 ~ 15 of direct-detection or detects the structure acting on the pilot pressure of guiding valve.

Rotating speed Nb, rotating speed Na and rotating speed Mr is stored in controller C.Rotating speed Nb is the rotating speed of motor generator set that swing arm is brought back to life when controlling.Rotating speed Na be do not carry out swing arm bring back to life control and bring back to life control and only make service pump AP work when the rotating speed of motor generator set MG.Rotating speed Nr be when do not carry out swing arm bring back to life control and only perform the situation of bringing back to life and controlling and perform bring back to life control and auxiliary control these two kinds control the rotating speed of motor generator set MG.

The threshold value Pt of rotation pressure is previously stored with in controller C.Threshold value Pt is the pressure of the setting pressure of relief valve 28,29 a little less than the rotary loop being located at rotary motor RM.When the rotation pressure utilizing pressure detector 47 to detect reaches threshold value Pt, electromagnetic opening and closing valve 46 self closing position is switched to open position by controller C, and the fluid of the amount of discharging to case via relief valve 28,29 is supplied to interflow path 43.

The threshold value be previously stored with in controller C based on rotation pressure and rotation pressure is carried out computing and to be brought back to life the operational formula of flow.Thus, controller C can use this operational formula and bring back to life flow based on the pressure prediction utilizing pressure detector 47 to detect.

In addition, such as, the form of the relation that the pressure that can pressure detector 47 be utilized to detect expression and revolution are brought back to life between flow is stored in advance in controller C, carries out the prediction to flow of bringing back to life with reference to this form.In this case, controller C can not comprise calculation function.

Below, illustrate swing arm bring back to life when controlling and bring back to life control time the process of controller C.Fig. 2 is the flow chart of the content of the process representing controller C.In addition, this control treatment repeats with predetermined tiny time (such as 10ms).

In step sl, controller C sets and the rotating speed Na of the auxiliary flow Qa assisting control command corresponding with the motor generator set MG prestored.Auxiliary control command is the signal that service pump AP is worked.This signal is from the signal being input to controller C for the amount of switched detection unit detecting the amount of switched of each operating valve when the operating valve 14 of swing arm single speed is operated to the direction operation making swing arm cylinder BC extend or other operating valve 1,2,4,5,13,15.When the decline only carrying out the swing arm that swing arm cylinder BC shrinks controls, do not export auxiliary control command.

That is, except the decline control of swing arm, when operating valve is operated, controller C detects the amount of switched of operating valve, and, based on discharge capacity, i.e. the auxiliary flow Qa of the operational formula computing service pump preset in controller.

In step s 2, controller C detects the retracted position of swing arm cylinder BC according to the operating conditions of the operating valve 14 of swing arm single speed.When swing arm cylinder BC shrinks work, the decline of swing arm when controlling, controller C to bring back to life flow Qb based on the amount of switched computing swing arm of the operating valve 14 of swing arm single speed.In addition, controller C sets the rotating speed Nb of motor generator set MG that the swing arm prestored is brought back to life when controlling.

In step s3, controller C setting bring back to life control time the rotating speed Nr of motor generator set MG and the threshold value Pt of rotation pressure.In addition, in step S1 ~ S3, controller C setting speed Na etc. are meant to by the data setting required for controlling the operating valve, angle of yaw controller 35,36 etc. that are connected to controller C in a control program.

In step s 4 which, controller C judge whether to carry out swing arm bring back to life control, namely whether there is swing arm and to bring back to life control command.Swing arm control command of bringing back to life is by making swing arm cylinder BC shrink, namely to the signal detected when the direction operation making swing arm decline, and adaptive switched amount detection unit is input to controller C at the operation controlling rod of swing arm control valve.There is swing arm if judge to bring back to life control command, then process enters step S5, and there is not swing arm if judge and to bring back to life control command, then process enters step S11.

In step s 5, controller C judges whether to there is at least one in auxiliary control command and revolution action, judges whether to make at least one work in service pump AP and rotary motor RM.Service pump AP whether is made to work by whether there is auxiliary control command to judge.Whether make rotary motor RM work to judge the handover operation of the operating valve 1 of rotary motor by whether existing.

There is not auxiliary control command if judge and the handover operation not carrying out the operating valve 1 to rotary motor, then process enters step S6.Make service pump AP or rotary motor RM work if be judged as, then process enters step S8.

In step s 6, controller C is according to the contraction speed (rate of descent of swing arm) of the amount of switched computing swing arm cylinder BC of the operating valve 14 of swing arm single speed, the return flow namely carrying out robot arm cylinder BC.And electromagnetic opening and closing valve 50 is switched to open position by controller C, and the aperture of the return flow control ratio solenoid valve 34 obtained according to computing.

And the controller C computing swing arm being used for performing separately with the contractive action of swing arm cylinder BC is brought back to life the controlling value controlled.Specifically, controller C is directed to the flow Qb that brings back to life of connection path 42 according to the aperture computing of proportional electromagnetic valve 34, utilizes this flow Qb computing of bringing back to life the rotating speed of motor generator set MG can be maintained the angle of yaw β of the fluid pressure motor AM of rotating speed Nb.That is, angle of yaw β is the angle of yaw corresponding with the discharge capacity often rotated a circle needed for the fluid pressure motor AM making to rotate under the effect of the flow Qb that brings back to life rotates with rotating speed Nb.

And controller C makes the angle of deflection of the service pump AP rotated integrally with the motor generator set MG rotated with rotating speed Nb be zero and makes its discharge capacity be zero.

In step s 5, if judge, service pump AP or rotary motor RM are worked and process enters step S8, then controller C judges whether to exist revolution and to bring back to life control command.The rotation pressure detected by pressure detector 47 that control command of bringing back to life is meant to be located at interflow path 43 reaches input signal when threshold value Pt.There is revolution if judge to bring back to life control command, then process enters step S9, and there is not revolution if judge and to bring back to life control command, then process enters step S10.

In step s 9, controller C determine carrying out swing arm bring back to life control, bringing back to life controls and the auxiliary controlling value controlled.Namely, controller C utilizes the flow and being added and the flow that obtains according to the revolution of rotation pressure prediction flow of bringing back to life of being brought back to life by swing arm, computing the rotating speed of motor generator set MG can be maintained with control separately swing arm bring back to life control time (step S6) identical rotating speed Nb the angle of yaw β of fluid pressure motor AM.

And controller C computing can discharge the angle of deflection of the service pump AP of the auxiliary flow Qa calculated while rotating with rotating speed Nb.This angle of deflection is for discharging the corresponding angle of yaw of the discharge capacity often rotated a circle needed for auxiliary flow Qa with the service pump AP rotated with rotating speed Nb.

In step s 8, there is not revolution if judge and to bring back to life control command and process enters step S10, then controller C computing do not carry out turning round bring back to life control and carry out swing arm bring back to life control and auxiliary control needed for controlling value.Namely, controller C utilizes the flow Qb computing of bringing back to life of setting the rotating speed of motor generator set MG can be maintained the angle of yaw β of the fluid pressure motor AM of the rotating speed Nb of setting.In addition, controller C computing can discharge the angle of deflection of the service pump AP of the auxiliary flow Qa of setting while rotating with rotating speed Nb.

In step s 4 which, there is not swing arm to bring back to life control command and process enters step S11 if judge, then controller C judges whether to exist the revolution action of auxiliary control command for making service pump AP work or rotary motor RM.If judge, auxiliary control command and revolution action all do not exist, then process enters step S12, and controlling value is set as zero by controller C.

There is auxiliary control command or revolution action if judge and process enters step S13, then controller C judges whether to exist revolution and to bring back to life control command.When the rotation pressure utilizing pressure detector 47 to detect reaches threshold value Pt, be judged as existing revolution and bring back to life control command, when rotation pressure does not reach threshold value Pt, be judged as not existing revolution and bring back to life control command.There is revolution if judge to bring back to life control command, then process enters step S14, and there is not revolution if judge and to bring back to life control command, then process enters step S17.

In step S14, controller C judges whether to there is auxiliary control command.There is auxiliary control command if judge, then process enters step S15, if judge there is not auxiliary control command, then process enters step S16.

In step S15, controller C computing controls and the auxiliary controlling value controlled for carrying out turning round bringing back to life.Controller C computing when carry out turning round bring back to life control while carry out except the contractive action (down maneuver of swing arm) of swing arm cylinder BC operation controlling value.

Namely, the revolution that controller C utilizes the rotation pressure detected according to pressure detector 47 to predict is brought back to life flow, the rotating speed of motor generator set MG can be maintained the angle of yaw β of the fluid pressure motor AM of rotating speed Nr by computing, and computing can discharge the angle of deflection of the service pump AP of the auxiliary flow Qa calculated.

In other words, angle of deflection is in order to the corresponding angle of yaw of the discharge capacity often rotated a circle of discharging auxiliary flow Qa with the service pump AP rotated with rotating speed Nr.Angle of yaw β be with in order to make the revolution predicted according to rotation pressure bring back to life flow effect under the fluid pressure motor AM that rotates to rotate with rotating speed Nr and the corresponding angle of yaw of discharge capacity that is required, that often rotate a circle.

In step S14, if be judged as there is not auxiliary control command and process enters step S16, then controller C utilizes the revolution predicted according to rotation pressure to bring back to life flow, and the rotating speed of motor generator set MG can be maintained the angle of yaw β of the fluid pressure motor AM of rotating speed Nr by computing.In this step, owing to not needing auxiliary control, therefore, the angle of deflection of the service pump AP rotated with rotating speed Nr is set as zero by controller C, makes the discharge capacity of service pump AP be zero.

In step s 13, there is not revolution if judge and to bring back to life control command and process enters step S17, then controller C computing do not exist swing arm bring back to life control and bring back to life control only in order to carry out the controlling value of auxiliary control.That is, controller C computing can discharge the angle of deflection of the service pump AP of auxiliary flow Qa while the rotating speed Na maintaining motor generator set MG.In this step, to bring back to life control owing to not carrying out bring back to life control and revolution of swing arm, therefore, the angle of yaw β of fluid pressure motor AM is set as zero by controller C.

In above-mentioned steps S6, S9, S10, S15, S16, S17, after calculating the controlling value corresponding with each control, process enters step S7.

In the step s 7, controller C confirms flow, the situation of rotating speed in the power restriction of motor generator set MG of specifying in each step, if in restriction, perform the control corresponding with above-mentioned controlling value.In addition, if outer in restriction, be modified in restriction, and perform the control corresponding with above-mentioned controlling value.

In addition, when performing above-mentioned control, controller C is except controlling the angle of yaw of fluid pressure motor AM and service pump AP, and also comparative example solenoid valve 34, electromagnetic opening and closing valve 50 and electromagnetic opening and closing valve 46 control.

Such as, when input have swing arm bring back to life control command, controller C closes proportional electromagnetic valve 34 and electromagnetic opening and closing valve 50 is switched to open position, and the flow of bringing back to life of robot arm cylinder BC guides to connection path 42 in the future.In addition, when input have bring back to life control command, controller C is switched to open position by collaborating the electromagnetic opening and closing valve 46 of path 43, and the fluid of discharging from rotary motor RM is guided to connection path 42.

In the present embodiment, when the swing arm that return flow increases brings back to life control, owing to making motor generator set MG rotate with relatively large rotating speed, i.e. rotating speed Nb, therefore, it is possible to return flow is not supplied to fluid pressure motor AM lavishly.

When only carrying out auxiliary control or only carry out turning round and bring back to life when controlling, the speed setting of motor generator set MG is rotating speed Na, Nr of being less than rotating speed Nb.The reason of reduction rotating speed Na, Nr like this as described below.

Owing to using the 1st main pump MP1 and the 2nd main pump MP2 simultaneously, therefore, service pump AP does not need too large discharge capacity.Therefore, the angle of deflection of service pump AP is multi-control is made as less angle.

Under the state that angle of deflection is less, when for by the rotating speed of motor generator set MG increase and when the discharge capacity of service pump AP being controlled in small scope, the control range of angle of deflection also becomes small.If for controlling angle of deflection in small control range, be then difficult to the discharge capacity controlling service pump AP, and the pump efficiency of service pump AP reduces.

Therefore, by being set as less by rotating speed Na when only carrying out auxiliary control, and easily control the discharge capacity of service pump AP, and the pump efficiency of service pump AP is improved.

In addition, owing to bringing back to life, flow is less, and therefore, the flow being supplied to fluid pressure motor AM when only carrying out turning round and bringing back to life and control becomes less.Therefore, by being set as less by the rotating speed Nr only carrying out turning round the motor generator set MG brought back to life when controlling, the control range of the angle of yaw β of fluid pressure motor AM can be increased.

On the other hand, perform swing arm at the same time and bring back to life and control and auxiliary control or perform swing arm simultaneously to bring back to life when controlling and bring back to life control, to bring back to life control to preferentially carry out swing arm, the speed setting of motor generator set MG is relatively large rotating speed Nb.

In addition, as long as rotating speed Na when the controlling auxiliary and rotating speed Nr brought back to life when controlling is set smaller than the rotating speed Nb that swing arm is brought back to life when controlling respectively, and it is also passable that the one in rotating speed Na and rotating speed Nr is greater than another one, and both are equal also passable.

In the past, if rotation pressure exceedes the threshold value preset, then controller controls the angle of yaw of fluid pressure motor, and the angle of yaw of convection cell pressure motor carries out feedback control, to maintain the rotation pressure detected.

Thus, there are the following problems: if produce operating lag at the angle of yaw control mechanism of fluid pressure motor, then producing pressure oscillation by the loop be communicated with between rotary motor with fluid pressure motor, thus can produce vibration.

On the other hand, in the present embodiment, rotation pressure based on the rotary motor RM detected by pressure detector 47 predicts that revolution is brought back to life flow, and the angle of yaw controlling fluid pressure motor AM to be brought back to life flow to become the revolution predicted, therefore the angle of yaw of convection cell pressure motor AM Open Control can be carried out.

Thus, because the angle of yaw of fluid pressure motor AM is by Open Control, therefore, it is possible to prevent the generation vibrated.

Above, describe embodiments of the present invention, but above-mentioned mode of execution illustrate only a part for application examples of the present invention, technical scope of the present invention is defined in the concrete structure of above-mentioned mode of execution by its aim not lying in.

The Japanese Patent Application 2012-177306 CLAIM OF PRIORITY that the application filed an application to Japanese Patent Office based on August 9th, 2012, the full content of this application is by referring to being programmed in this specification.

Claims

1. a control system for hybrid construction machine, comprising:

Rotary motor, it is located at rotary loop;

Pressure detector, it is for detecting the rotation pressure of above-mentioned rotary motor;

Capacity-variable type fluid pressure motor, it is for bringing back to life, and this capacity-variable type fluid pressure motor rotates under the effect of the pressure fluid guided from above-mentioned rotary motor;

Motor generator set, itself and above-mentioned fluid pressure motor rotate integratedly; And

Controller, it to be brought back to life flow based on the revolution that the rotation pressure utilizing above-mentioned pressure detector to detect is predicted from above-mentioned rotary motor, and controls the angle of yaw of above-mentioned fluid pressure motor based on the revolution predicted flow of bringing back to life.

2. the control system of hybrid construction machine according to claim 1, wherein,

The control system of above-mentioned hybrid construction machine also comprises open and close valve, and this open and close valve is located at the position than above-mentioned pressure detector downstream in the path above-mentioned rotary loop and above-mentioned fluid pressure motor coupled together,

When the rotation pressure utilizing above-mentioned pressure detector to detect arrives the threshold value preset, the above-mentioned open and close valve of above-mentioned controller opens and flow of revolution being brought back to life guides to above-mentioned fluid pressure motor.

3. the control system of hybrid construction machine according to claim 1, wherein,

The control system of above-mentioned hybrid construction machine also comprises swing arm cylinder,

The aggregate flow that above-mentioned controller is added based on flow of bring back to life flow and the revolution that predicts of above-mentioned swing arm cylinder being brought back to life and control the angle of yaw of above-mentioned fluid pressure motor.